9 changed files with 218 additions and 201 deletions
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15.cproject
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4.settings/language.settings.xml
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2sdk/chip/zgpio.cpp
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340sdk/components/tmc/helpers/Functions.c
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36sdk/components/tmc/helpers/Functions.h
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2usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
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14usrc/sysmgr/sys_mgr.cpp
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4usrc/sysmgr/sys_mgr.hpp
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2usrc/version.h
@ -1,170 +1,170 @@ |
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/* |
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* Functions.c |
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* |
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* Created on: 23.07.2018 |
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* Author: ed |
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*/ |
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#include "Functions.h" |
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int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max) |
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{ |
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if (value > max) |
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return max; |
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else if (value < min) |
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return min; |
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else |
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return value; |
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} |
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int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max) |
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{ |
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if (value > max) |
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return max; |
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else if (value < min) |
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return min; |
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else |
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return value; |
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} |
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/* lookup table for square root function */ |
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static const unsigned char sqrttable[256] = |
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{ |
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0, 16, 22, 27, 32, 35, 39, 42, 45, 48, 50, 53, 55, 57, 59, 61, |
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64, 65, 67, 69, 71, 73, 75, 76, 78, 80, 81, 83, 84, 86, 87, 89, |
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90, 91, 93, 94, 96, 97, 98, 99, 101, 102, 103, 104, 106, 107, 108, 109, |
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110, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, |
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128, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, |
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143, 144, 144, 145, 146, 147, 148, 149, 150, 150, 151, 152, 153, 154, 155, 155, |
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156, 157, 158, 159, 160, 160, 161, 162, 163, 163, 164, 165, 166, 167, 167, 168, |
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169, 170, 170, 171, 172, 173, 173, 174, 175, 176, 176, 177, 178, 178, 179, 180, |
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181, 181, 182, 183, 183, 184, 185, 185, 186, 187, 187, 188, 189, 189, 190, 191, |
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192, 192, 193, 193, 194, 195, 195, 196, 197, 197, 198, 199, 199, 200, 201, 201, |
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202, 203, 203, 204, 204, 205, 206, 206, 207, 208, 208, 209, 209, 210, 211, 211, |
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212, 212, 213, 214, 214, 215, 215, 216, 217, 217, 218, 218, 219, 219, 220, 221, |
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221, 222, 222, 223, 224, 224, 225, 225, 226, 226, 227, 227, 228, 229, 229, 230, |
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230, 231, 231, 232, 232, 233, 234, 234, 235, 235, 236, 236, 237, 237, 238, 238, |
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239, 240, 240, 241, 241, 242, 242, 243, 243, 244, 244, 245, 245, 246, 246, 247, |
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247, 248, 248, 249, 249, 250, 250, 251, 251, 252, 252, 253, 253, 254, 254, 255 |
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}; |
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int32_t tmc_sqrti(int32_t x) |
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{ |
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int32_t xn; |
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// Negative parameter? |
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if (x < 0) |
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return -1; |
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if (x < 0x0100) |
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return (int) sqrttable[x] >> 4; |
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if (x >= 0x00010000) |
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{ |
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if (x >= 0x01000000) |
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{ |
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if (x >= 0x10000000) |
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{ |
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if (x >= 0x40000000) |
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{ |
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// 0x40000000 <= x < 0x7FFFFFFF |
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xn = (int) sqrttable[x >> 24] << 8; |
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} |
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else |
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{ |
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// 0x10000000 <= x < 0x40000000 |
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xn = (int) sqrttable[x >> 22] << 7; |
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} |
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} |
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else |
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{ |
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if (x >= 0x04000000) |
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{ |
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// 0x04000000 <= x < 0x10000000 |
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xn = (int) sqrttable[x >> 20] << 6; |
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} |
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else |
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{ |
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// 0x01000000 <= x < 0x04000000 |
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xn = (int) sqrttable[x >> 18] << 5; |
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} |
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} |
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// Two steps of the babylonian method |
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xn = (xn + 1 + (x / xn)) >> 1; |
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xn = (xn + 1 + (x / xn)) >> 1; |
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} |
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else |
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{ |
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if (x >= 0x00100000) |
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{ |
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if (x >= 0x00400000) |
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{ |
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// 0x00400000 <= x < 0x01000000 |
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xn = (int) sqrttable[x >> 16] << 4; |
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} |
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else |
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{ |
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// 0x00100000 <= x < 0x00400000 |
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xn = (int) sqrttable[x >> 14] << 3; |
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} |
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} |
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else |
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{ |
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if (x >= 0x00040000) |
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{ |
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// 0x00040000 <= x < 0x00100000 |
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xn = (int) sqrttable[x >> 12] << 2; |
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} |
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else |
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{ |
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// 0x00010000 <= x < 0x00040000 |
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xn = (int) sqrttable[x >> 10] << 1; |
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} |
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} |
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// One step of the babylonian method |
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xn = (xn + 1 + (x / xn)) >> 1; |
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} |
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} |
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else |
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{ |
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if (x >= 0x1000) |
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{ |
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if (x >= 0x4000) |
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{ |
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// 0x4000 <= x < 0x00010000 |
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xn = (int) (sqrttable[x >> 8] ) + 1; |
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} |
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else |
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{ |
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// 0x1000 <= x < 0x4000 |
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xn = (int) (sqrttable[x >> 6] >> 1) + 1; |
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} |
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} |
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else |
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{ |
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if (x >= 0x0400) |
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{ |
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// 0x0400 <= x < 0x1000 |
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xn = (int) (sqrttable[x >> 4] >> 2) + 1; |
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} |
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else |
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{ |
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// 0x0100 <= x < 0x0400 |
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xn = (int) (sqrttable[x >> 2] >> 3) + 1; |
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} |
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} |
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} |
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// Make sure that our result is floored |
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if ((xn * xn) > x) |
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xn--; |
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return xn; |
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} |
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int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter) |
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{ |
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*akku += (newValue-lastValue) << (maxFilter-actualFilter); |
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return *akku >> maxFilter; |
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} |
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///* |
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// * Functions.c |
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// * |
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// * Created on: 23.07.2018 |
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// * Author: ed |
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// */ |
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//#include "Functions.h" |
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// |
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//int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max) |
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//{ |
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// if (value > max) |
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// return max; |
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// else if (value < min) |
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// return min; |
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// else |
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// return value; |
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//} |
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// |
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//int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max) |
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//{ |
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// if (value > max) |
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// return max; |
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// else if (value < min) |
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// return min; |
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// else |
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// return value; |
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//} |
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// |
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///* lookup table for square root function */ |
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//static const unsigned char sqrttable[256] = |
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//{ |
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// 0, 16, 22, 27, 32, 35, 39, 42, 45, 48, 50, 53, 55, 57, 59, 61, |
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// 64, 65, 67, 69, 71, 73, 75, 76, 78, 80, 81, 83, 84, 86, 87, 89, |
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// 90, 91, 93, 94, 96, 97, 98, 99, 101, 102, 103, 104, 106, 107, 108, 109, |
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// 110, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, |
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// 128, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, |
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// 143, 144, 144, 145, 146, 147, 148, 149, 150, 150, 151, 152, 153, 154, 155, 155, |
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// 156, 157, 158, 159, 160, 160, 161, 162, 163, 163, 164, 165, 166, 167, 167, 168, |
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// 169, 170, 170, 171, 172, 173, 173, 174, 175, 176, 176, 177, 178, 178, 179, 180, |
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// 181, 181, 182, 183, 183, 184, 185, 185, 186, 187, 187, 188, 189, 189, 190, 191, |
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// 192, 192, 193, 193, 194, 195, 195, 196, 197, 197, 198, 199, 199, 200, 201, 201, |
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// 202, 203, 203, 204, 204, 205, 206, 206, 207, 208, 208, 209, 209, 210, 211, 211, |
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// 212, 212, 213, 214, 214, 215, 215, 216, 217, 217, 218, 218, 219, 219, 220, 221, |
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// 221, 222, 222, 223, 224, 224, 225, 225, 226, 226, 227, 227, 228, 229, 229, 230, |
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// 230, 231, 231, 232, 232, 233, 234, 234, 235, 235, 236, 236, 237, 237, 238, 238, |
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// 239, 240, 240, 241, 241, 242, 242, 243, 243, 244, 244, 245, 245, 246, 246, 247, |
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// 247, 248, 248, 249, 249, 250, 250, 251, 251, 252, 252, 253, 253, 254, 254, 255 |
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//}; |
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// |
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//int32_t tmc_sqrti(int32_t x) |
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//{ |
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// int32_t xn; |
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// |
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// // Negative parameter? |
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// if (x < 0) |
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// return -1; |
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// |
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// if (x < 0x0100) |
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// return (int) sqrttable[x] >> 4; |
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// |
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// if (x >= 0x00010000) |
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// { |
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// if (x >= 0x01000000) |
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// { |
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// if (x >= 0x10000000) |
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// { |
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// if (x >= 0x40000000) |
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// { |
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// // 0x40000000 <= x < 0x7FFFFFFF |
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// xn = (int) sqrttable[x >> 24] << 8; |
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// } |
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// else |
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// { |
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// // 0x10000000 <= x < 0x40000000 |
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// xn = (int) sqrttable[x >> 22] << 7; |
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// } |
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// } |
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// else |
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// { |
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// if (x >= 0x04000000) |
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// { |
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// // 0x04000000 <= x < 0x10000000 |
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// xn = (int) sqrttable[x >> 20] << 6; |
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// } |
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// else |
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// { |
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// // 0x01000000 <= x < 0x04000000 |
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// xn = (int) sqrttable[x >> 18] << 5; |
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// } |
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// } |
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// |
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// // Two steps of the babylonian method |
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// xn = (xn + 1 + (x / xn)) >> 1; |
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// xn = (xn + 1 + (x / xn)) >> 1; |
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// } |
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// else |
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// { |
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// if (x >= 0x00100000) |
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// { |
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// if (x >= 0x00400000) |
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// { |
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// // 0x00400000 <= x < 0x01000000 |
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// xn = (int) sqrttable[x >> 16] << 4; |
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// } |
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// else |
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// { |
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// // 0x00100000 <= x < 0x00400000 |
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// xn = (int) sqrttable[x >> 14] << 3; |
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// } |
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// } |
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// else |
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// { |
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// if (x >= 0x00040000) |
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// { |
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// // 0x00040000 <= x < 0x00100000 |
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// xn = (int) sqrttable[x >> 12] << 2; |
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// } |
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// else |
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// { |
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// // 0x00010000 <= x < 0x00040000 |
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// xn = (int) sqrttable[x >> 10] << 1; |
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// } |
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// } |
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// |
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// // One step of the babylonian method |
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// xn = (xn + 1 + (x / xn)) >> 1; |
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// } |
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// } |
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// else |
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// { |
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// if (x >= 0x1000) |
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// { |
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// if (x >= 0x4000) |
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// { |
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// // 0x4000 <= x < 0x00010000 |
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// xn = (int) (sqrttable[x >> 8] ) + 1; |
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// } |
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// else |
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// { |
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// // 0x1000 <= x < 0x4000 |
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// xn = (int) (sqrttable[x >> 6] >> 1) + 1; |
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// } |
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// } |
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// else |
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// { |
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// if (x >= 0x0400) |
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// { |
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// // 0x0400 <= x < 0x1000 |
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// xn = (int) (sqrttable[x >> 4] >> 2) + 1; |
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// } |
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// else |
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// { |
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// // 0x0100 <= x < 0x0400 |
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// xn = (int) (sqrttable[x >> 2] >> 3) + 1; |
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// } |
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// } |
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// } |
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// |
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// // Make sure that our result is floored |
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// if ((xn * xn) > x) |
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// xn--; |
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// |
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// return xn; |
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//} |
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// |
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//int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter) |
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//{ |
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// *akku += (newValue-lastValue) << (maxFilter-actualFilter); |
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// return *akku >> maxFilter; |
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//} |
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@ -1,18 +1,18 @@ |
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/* |
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* Functions.h |
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* |
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* Created on: 23.07.2018 |
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* Author: ed |
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*/ |
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#ifndef TMC_FUNCTIONS_H_ |
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#define TMC_FUNCTIONS_H_ |
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#include "API_Header.h" |
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int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max); |
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int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max); |
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int32_t tmc_sqrti(int32_t x); |
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int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter); |
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#endif /* TMC_FUNCTIONS_H_ */ |
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///* |
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// * Functions.h |
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// * |
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// * Created on: 23.07.2018 |
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// * Author: ed |
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// */ |
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// |
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//#ifndef TMC_FUNCTIONS_H_ |
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//#define TMC_FUNCTIONS_H_ |
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// |
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//#include "API_Header.h" |
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// |
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//int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max); |
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//int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max); |
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//int32_t tmc_sqrti(int32_t x); |
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//int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter); |
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// |
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//#endif /* TMC_FUNCTIONS_H_ */ |
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@ -1,2 +1,2 @@ |
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#pragma once |
#pragma once |
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#define APP_VERSION 1024 |
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||||
|
#define APP_VERSION 1025 |
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